Fuzzy torque trajectory control of a rotary series elastic actuator with nonlinear friction compensation

Fotuhi M. J., Bingül Z.

ISA Transactions, cilt.115, ss.206-217, 2021 (SCI-Expanded) identifier identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 115
  • Basım Tarihi: 2021
  • Doi Numarası: 10.1016/j.isatra.2021.01.020
  • Dergi Adı: ISA Transactions
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Applied Science & Technology Source, Communication Abstracts, Computer & Applied Sciences, EMBASE, INSPEC, MEDLINE
  • Sayfa Sayıları: ss.206-217
  • Anahtar Kelimeler: Rotary series-elastic actuator system (RSEA), Fuzzy torque controller with friction compensation (FTC-FC), Fuzzy logic control (FLC), Experimental analysis, Nonlinear friction estimation model (NLFEM), DESIGN
  • Kocaeli Üniversitesi Adresli: Evet

Özet

© 2021 ISAFor humanoid/memetic robots, modeling and accurate torque trajectory control of a rotary series elastic actuator (RSEA) is of great importance. In this study, the fuzzy logic torque controller with nonlinear friction compensation (NLFC) is used to improve the deteriorating trajectory tracking performance caused by these nonlinear elements in RSEA systems. In order to demonstrate the power efficiency and performance of the proposed control system, several experiments have been performed on the experimental setup, including a torque motor with worm gear and torsional flat-double spiral spring (TFDSS). The proposed novel RSEA is designed and tested using different controllers, including PID feedforward controller (PID-FFC), fuzzy logic feedforward controller (FL-FFC), and fuzzy torque controller with friction compensation (FTC-FC). A comparative study among controllers is conducted to show the robustness of FTC-FC against a step and ramp-type disturbances. The simulation and experimental results here strongly confirm that the proposed control method produces better control performance.